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The endoscope system consists of a control hand unit with valves and manoeuvrable bend section at the distal end by turning two knobs from a control hand unit. An accurate kinematic model for the relationships between motion of the distal end and the control unit is essential for endoscopist to control a motion of the tip navigating in the human organ… (More)

Colonoscopy is the most sensitive and specific means for detection of colon cancers and polyps. To make colonoscopy more effective several problems must be overcome including: pain associated with the procedure, the risk of perforation, and incomplete intubation colonoscopy. Technically, these problems are the result of loop formation during colonoscopy.… (More)